#pragma once

class Motormixer
{
public:
    struct Output
    {
        float leftMotor;
        float rightMotor;
    };

    struct Scaling
    {
        float throttle;
        float steering;
    };
    
    //! @param throttle in [-1, 1]
    //! @param steering in [-1, 1]
    Output calculate(float throttle, float steering);

    void setInputScale(Scaling scale);
    void setOutputScale(float scale);
    void setDeadzone(float deadzone);
    void setTrimSteering(float trimSteering);

    Motormixer() = default;

private:
    Scaling m_inputScale = {0.3f, 1.0f};
    float m_outputScale = 100.0f;
    float m_deadzone = 0.1;
    float m_trimSteering = 0.0f;
};